Computer assisted teaching arrangement for conveyor line operation
US4086522A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 8, 1976 |
| Grant date | Apr 25, 1978 |
| Priority date | — |
| Expiry date | Sep 8, 1996 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T29/53004
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A programmable manipulator having an arm which is movable in a plurality of axes and encoder apparatus for the axes operative to develop position signals corresponding to the actual position of the arm is provided adjacent a workpiece moving along a predetermined path, a conveyor for example, to perform a series of programmed operations on the workpiece. The programmable manipulator is provided with teach-programming apparatus for moving the arm during an initial teaching operation to different positions of the stationary workpiece corresponding to the desired series of operations of the manipulator relative to the stationary workpiece. Further, apparatus is provided for calculating digital representations during the teaching operation representing the positions of the arm accounting for the projected workpiece movement during playback and corresponding to the initial teaching positions relative to the workpiece. The calculated digital representations are than stored for use in controlling movement of the arm during playback with a moving workpiece. The manipulator control electronics is provided with an interpolation unit which is effective to maintain the manipulator in synchroni…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.